SO101 Sock/Ball Pick-Place ACT Hand-Camera Checkpoint

This is a LeRobot ACT checkpoint trained on fbsh96/so101_sock_ball_pick_place_formal_100ep.

Training Summary

Policy: ACT
Dataset: fbsh96/so101_sock_ball_pick_place_formal_100ep
Episodes: 100
Frames: 91,600
Device: AMD Instinct MI300X via ROCm/PyTorch
Steps: 20,000
Batch size: 16
Input features: observation.state and observation.images.hand_cam
Action dimension: 12
Final logged loss: ~0.074

Important Note

This checkpoint intentionally uses only observation.images.hand_cam. The source dataset also contains front_cam, but the raw 720p front camera path was not used in this training run because it was significantly slower without preprocessing/downsampling.

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Model size

51.7M params

Tensor type

F32

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